BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.hardware/DynIMU

DynIMU

open class DynIMU : IMU

Port of the LazyImu class to support the universal IMU interface by taking a reference to an uninitialised IMU object and initialising it on the first call to a method.

Author

Lucas Bubner, 2024

Since

6.0.0

Constructors

Link copied to clipboard
constructor(@NonNull uninitializedIMU: IMU, @NonNull orientation: RevHubOrientationOnRobot)
Create a new object that will initialise the given IMU object when a read is required.

Functions

Link copied to clipboard
open fun close()
Link copied to clipboard
Link copied to clipboard
Link copied to clipboard
@NonNull
open fun getManufacturer(): HardwareDevice.Manufacturer
Link copied to clipboard
@NonNull
open fun getRobotAngularVelocity(@NonNull angleUnit: AngleUnit): AngularVelocity
Link copied to clipboard
@NonNull
open fun getRobotOrientation(@NonNull reference: AxesReference, @NonNull order: AxesOrder, @NonNull angleUnit: AngleUnit): Orientation
Link copied to clipboard
@NonNull
open fun getRobotOrientationAsQuaternion(): Quaternion
Link copied to clipboard
@NonNull
open fun getRobotYawPitchRollAngles(): YawPitchRollAngles
Link copied to clipboard
open fun getVersion(): Int
Link copied to clipboard
open fun initialize(@NonNull parameters: IMU.Parameters): Boolean
Link copied to clipboard
@NonNull
open fun none(): IMU
Creates an IMU with no IMU attached.
Link copied to clipboard
Link copied to clipboard
open fun resetYaw()
Link copied to clipboard
@NonNull
open fun withInitTimeout(@NonNull timeout: Measure<Time>): DynIMU
Set a custom timeout for the initialisation of the IMU that will fail the initialisation if it takes too long.